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ROS Object Analytics Release - V0.3.0

Hi All,
We are happy to announce the initial release of the Object Analytics packages. These packages aim to provide real-time object analyses over RGB-D camera inputs, enabling ROS developer to easily create amazing robotics advanced features, like intelligent collision avoidance and semantic SLAM. It consumes sensor_msgs::PointClould2 data delivered by RGB-D camera, publishing topics on object detections, object tracking, and object localization in 3D camera coordination system. Packages and features provided by below 4 projects with tag v0.3.0:

  • ros_object_analytics
    o object_analytics_nodelet: ROS publisher and tests for object tracking in a ROS Image message, and for object localization 3D in a ROS PointCloud2 message from an RGB-D camera. OpenCV tracker is adopted for object tracking, with regular rectification from object detection results. Object segmentation over pointcloud2 image locates the detected objects in 3D camera coordination system.
    o object_analytics_msgs: ROS message interface for the object analytics features
    o object_analytics_launch: ROS launch interface for the overall object analytics and its nodelet sub-modules
    o object_analytics_visualization: ROS sample app with visual outputs for the results of object tracking and object localization 3D
  • ros_opencl_caffe
    o opencl_caffe: ROS service, publisher, and tests for object inference in a ROS Image message from an RGB camera. Yolo2 model fitting into OpenCL Caffe is adopted for object detection
    o opencl_caffe_viewer: ROS sample app with visual outputs for the results of object detection
  • object_msgs: ROS message interface common for all object detection packages of various detection framework and hardware
  • ros_object_detect_launch: ROS launch interface common for all object detection packages of various detection framework and hardware

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We have tested on RealSense D400 series camera, Astra camera, and Microsoft Kinect v1 camera. See README of each project for how to setup the environment. Welcome feedbacks and participation.

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